説明
Set the homing speeds object.
Relevant Objects
Object 6099h: Homing speeds
構文
int hm_SetHomingSpeeds(uint32_t speed_during_search_switch, uint32_t speed_during_search_zero);
媒介変数
[in] speed_during_search_switch
[in] speed_during_search_switch
[in] speed_during_search_zero
The speed during search for zero to be set.
戻り値
error codeを返します。返された値が 0の場合、この関数が正常に完了したことを示します。
備考
この関数は、 . This function is non-blocking and can be called in callback functions if the related object is mapped to PDO.
例
#include "Ethercat.h"
EthercatMaster master;
EthercatDevice_CiA402 motor;
void setup() {
master.begin();
motor.attach(0, master);
motor.setCiA402Mode(CIA402_HOMING_MODE);
master.start();
motor.enable();
motor.hm_SetHomingMethod(CIA402_HM33);
motor.hm_SetHomeOffset(0);
motor.hm_SetHomingSpeeds(100, 20);
motor.hm_SetHomingAcceleration(100);
motor.hm_Run();
while (motor.hm_IsAttained() == CIA402_HM_RUNNING);
}
void loop() {
// put your main code here, to run repeatedly:
}詳細は EtherCAT CiA 402 User Manual QEC EtherCAT命令とAPI使用法参照